Integration of MYRAbot in moveIt! (gazebo+moveIt!)
From robotica.unileon.es
Revision as of 17:13, 12 March 2014 by Fernando (talk | contribs) (→Integration of perception sensors)
Previous steps
Installation of moveIt!
MoveIt! is a package that provides a software tool for all types of manipulation tasks both industrial level and domestic level. It is available for the ROS distributions groovy and hydro, for this reason we must have installed some of these. We will execute the next command in a terminal in order to install moveIt!, where "ROS_DISTRIBUCION" is our installed distribution:
sudo apt-get install ros-ROS_DISTRIBUCION-moveit-fullModification of MYRAbot model for moveIt!
New URDF of the arm
We need to modify the type of the gazebo controllers of the arm's joints in order to allow to moveIt! to take the control of these. Also we have added the 3D meshes of the real components of the arm. We will create a file named "brazo-macros_moveit.xacro" within the folder "urdf" of the package "brazo_fer_modelo" with the content that is shown below:
<?xml version="1.0"?>
<robot xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:xacro="http://ros.org/wiki/xacro">
<property name="M_PI" value="3.14159"/>
<property name="M_SCALE" value="0.001"/>
<property name="F10_HEIGHT" value="0.004"/>
<property name="F4_HEIGHT" value="0.0525"/>
<property name="F3_HEIGHT" value="0.009"/>
<property name="AX12_HEIGHT" value="0.0385"/>
<property name="AX12_WIDTH" value="0.038"/>
<property name="F2_HEIGHT" value="0.0265"/>
<material name="white">
<color rgba="0.87 0.90 0.87 1.0"/>
</material>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<xacro:macro name="default_inertia">
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</xacro:macro>
<xacro:macro name="default_inertia_servos">
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01"/>
</xacro:macro>
<xacro:macro name="default_dynamics">
<dynamics fricction="0" damping="0" />
</xacro:macro>
<xacro:macro name="bioloid_F10_fixed" params="parent name color *origin">
<joint name="${name}_joint" type="fixed">
<insert_block name="origin" />
<parent link="${parent}"/>
<child link="${name}_link" />
</joint>
<link name="${name}_link">
<inertial>
<mass value="0.001" />
<origin xyz="0 0 0" />
<default_inertia/>
</inertial>
<visual>
<origin xyz=" 0 0 0 " rpy="0 0 0" />
<geometry>
<mesh filename="package:/brazo_fer_modelo/meshes/F10.stl" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
</geometry>
<material name="${color}"/>
</visual>
<collision>
<origin xyz=" 0 0 0 " rpy="0 0 0" />
<geometry>
<mesh filename="package://brazo_fer_modelo/meshes/F10.stl" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
</geometry>
</collision>
</link>
</xacro:macro>
<xacro:macro name="finger_fixed" params="parent name color *origin">
<joint name="${name}_joint" type="fixed">
<insert_block name="origin" />
<parent link="${parent}"/>
<child link="${name}_link" />
</joint>
<link name="${name}_link">
<inertial>
<mass value="0.001" />
<origin xyz="0 0 0" />
<default_inertia/>
</inertial>
<visual>
<origin xyz=" 0.03075 0.0 0.001 " rpy="0 0 0" />
<geometry>
<box size="0.0865 0.038 0.002" />
</geometry>
<material name="${color}"/>
</visual>
<collision>
<origin xyz=" 0.03075 0.0 0.001 " rpy="0 0 0" />
<geometry>
<box size="0.0865 0.038 0.002" />
</geometry>
</collision>
</link>
</xacro:macro>
<xacro:macro name="bioloid_F3_fixed" params="parent name color *origin">
<joint name="${name}_joint" type="fixed">
<insert_block name="origin" />
<parent link="${parent}"/>
<child link="${name}_link" />
</joint>
<link name="${name}_link">
<inertial>
<mass value="0.001" />
<origin xyz="0 0 0" />
<default_inertia/>
</inertial>
<visual>
<origin xyz=" 0 0 0 " rpy="0 0 0" />
<geometry>
<mesh filename="package://brazo_fer_modelo/meshes/F3.stl" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
</geometry>
<material name="${color}"/>
</visual>
<collision>
<origin xyz=" 0 0 0 " rpy="0 0 0" />
<geometry>
<mesh filename="package://brazo_fer_modelo/meshes/F3.stl" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
</geometry>
</collision>
</link>
</xacro:macro>
<xacro:macro name="dynamixel_AX12_fixed" params="parent name *origin">
<joint name="${name}_joint" type="fixed">
<insert_block name="origin" />
<parent link="${parent}"/>
<child link="${name}_link" />
</joint>
<link name="${name}_link">
<inertial>
<mass value="0.055" />
<origin xyz="0 0 0" />
<default_inertia_servos/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package:/brazo_fer_modelo/meshes/ax12_box.stl" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package:/brazo_fer_modelo/meshes/ax12_box.stl" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
</geometry>
</collision>
</link>
</xacro:macro>
<xacro:macro name="bioloid_F3_revolute" params="parent name color llimit ulimit vlimit *origin">
<joint name="${name}" type="revolute">
<insert_block name="origin" />
<axis xyz="0 0 -1"/>
<limit effort="100" velocity="${vlimit}" lower="${llimit}" upper="${ulimit}" />
<default_dynamics/>
<parent link="${parent}"/>
<child link="${name}_brazo_link" />
</joint>
<link name="${name}_brazo_link">
<inertial>
<mass value="0.001" />
<origin xyz="0 0 0" />
<default_inertia/>
</inertial>
<visual>
<origin xyz=" 0 0 0 " rpy="0 0 0" />
<geometry>
<mesh filename="package://brazo_fer_modelo/meshes/F3.stl" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
</geometry>
<material name="${color}"/>
</visual>
<collision>
<origin xyz=" 0 0 0 " rpy="0 0 0" />
<geometry>
<mesh filename="package://brazo_fer_modelo/meshes/F3.stl" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
</geometry>
</collision>
</link>
</xacro:macro>
<xacro:macro name="bioloid_F2_revolute" params="parent name color llimit ulimit vlimit *origin">
<joint name="${name}" type="revolute">
<insert_block name="origin" />
<axis xyz="0 1 0"/>
<limit effort="100" velocity="${vlimit}" lower="${llimit}" upper="${ulimit}" />
<default_dynamics/>
<parent link="${parent}"/>
<child link="${name}_link" />
</joint>
<link name="${name}_link">
<inertial>
<mass value="0.001" />
<origin xyz="0 0 0" />
<default_inertia/>
</inertial>
<visual>
<origin xyz=" 0 0 0 " rpy="0 0 0" />
<geometry>
<mesh filename="package://brazo_fer_modelo/meshes/F2.stl" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
</geometry>
<material name="${color}"/>
</visual>
<collision>
<origin xyz=" 0 0 0 " rpy="0 0 0" />
<geometry>
<mesh filename="package://brazo_fer_modelo/meshes/F2.stl" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
</geometry>
</collision>
</link>
</xacro:macro>
<xacro:macro name="bioloid_F4_revolute" params="parent name color llimit ulimit vlimit *origin">
<joint name="${name}" type="revolute">
<insert_block name="origin" />
<axis xyz="0 1 0"/>
<limit effort="100" velocity="${vlimit}" lower="${llimit}" upper="${ulimit}" />
<default_dynamics/>
<parent link="${parent}"/>
<child link="${name}_link" />
</joint>
<link name="${name}_link">
<inertial>
<mass value="0.001" />
<origin xyz="0 0 0" />
<default_inertia/>
</inertial>
<visual>
<origin xyz=" 0 0 0 " rpy="0 0 0" />
<geometry>
<mesh filename="package://brazo_fer_modelo/meshes/F4.stl" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
</geometry>
<material name="${color}"/>
</visual>
<collision>
<origin xyz=" 0 0 0 " rpy="0 0 0" />
<geometry>
<mesh filename="package://brazo_fer_modelo/meshes/F4.stl" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
</geometry>
</collision>
</link>
</xacro:macro>
<xacro:macro name="gazebo_propiedades_link" params="nombre material">
<gazebo reference="${nombre}">
<mu1>100</mu1>
<mu2>100</mu2>
<kp>100000000000</kp>
<kd>1000000000</kd>
<material>${material}</material>
<selfCollide>true</selfCollide>
<turnGravityOff>false</turnGravityOff>
</gazebo>
</xacro:macro>
<xacro:macro name="gazebo_propiedades_joint" params="nombre">
<gazebo reference="${nombre}">
<erp>0.1</erp>
<stopKd value="100000000.0" />
<stopKp value="100000000.0" />
<fudgeFactor value="0.5" />
</gazebo>
</xacro:macro>
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
</plugin>
</gazebo>
<transmission name="base_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="base"/>
<actuator name="base_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="arti1_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="arti1"/>
<actuator name="arti1_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="arti2_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="arti2"/>
<actuator name="arti3_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="arti3_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="arti3"/>
<actuator name="arti3_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="pinza_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="pinza"/>
<actuator name="pinza_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</robot>
We will add the next files within the folder "meshes" of the package "brazo_fer_modelo":
We will create a file named "brazo_moveit.xacro" within the folder "urdf" of the package "brazo_fer_modelo" with the content that is shown below:
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find brazo_fer_modelo)/urdf/brazo-macros_moveit.xacro" />
<xacro:macro name="brazo" params="parent *origin">
<joint name="fixed" type="fixed">
<parent link="${parent}"/>
<child link="fixed_link"/>
<insert_block name="origin" />
<axis xyz="0 0 1" />
</joint>
<link name="fixed_link"/>
<!-- shoulder pan joint -->
<dynamixel_AX12_fixed parent="fixed_link" name="servo_base">
<origin xyz="0 0 0.019" rpy="${M_PI/2} 0 ${-M_PI/2}"/>
</dynamixel_AX12_fixed>
<bioloid_F3_revolute parent="servo_base_link" name="base" color="white" vlimit="3" llimit="-2.62" ulimit="2.62">
<origin xyz="0 ${AX12_WIDTH/2} 0" rpy="${-M_PI/2} ${-M_PI/2} ${-M_PI}" />
</bioloid_F3_revolute>
<!-- shoulder lift joint -->
<dynamixel_AX12_fixed parent="base_brazo_link" name="servo_arti1">
<origin xyz="0 0 ${-AX12_HEIGHT-F10_HEIGHT+0.001}" rpy="0 ${M_PI} 0" />
</dynamixel_AX12_fixed>
<bioloid_F4_revolute parent="servo_arti1_link" name="arti1" color="white" vlimit="3" llimit="-2.62" ulimit="2.62">
<origin xyz="0 0 0" rpy="0 0 0" />
</bioloid_F4_revolute>
<bioloid_F10_fixed parent="arti1_link" name="arti1_F10_0" color="white">
<origin xyz="0 0 ${F4_HEIGHT+F10_HEIGHT/2}" rpy="0 0 0" />
</bioloid_F10_fixed>
<bioloid_F10_fixed parent="arti1_F10_0_link" name="arti1_F10_1" color="white">
<origin xyz="0 0 ${F10_HEIGHT}" rpy="0 0 0" />
</bioloid_F10_fixed>
<bioloid_F10_fixed parent="arti1_F10_1_link" name="arti1_F10_2" color="white">
<origin xyz="0 0 ${F10_HEIGHT}" rpy="0 0 0" />
</bioloid_F10_fixed>
<bioloid_F3_fixed parent="arti1_F10_2_link" name="arti1_F3_0" color="white">
<origin xyz="0 0 ${F10_HEIGHT/2}" rpy="0 ${M_PI} 0" />
</bioloid_F3_fixed>
<!-- elbow joint -->
<dynamixel_AX12_fixed parent="arti1_F3_0_link" name="servo_arti2">
<origin xyz="0 0 ${-AX12_HEIGHT-F10_HEIGHT+0.001}" rpy="0 ${M_PI} 0"/>
</dynamixel_AX12_fixed>
<bioloid_F4_revolute parent="servo_arti2_link" name="arti2" color="white" vlimit="3" llimit="-2.63" ulimit="2.63">
<origin xyz="0 0 0" rpy="0 0 0" />
</bioloid_F4_revolute>
<bioloid_F10_fixed parent="arti2_link" name="arti2_F10_0" color="white">
<origin xyz="0 0 ${F4_HEIGHT+F10_HEIGHT/2}" rpy="0 0 0" />
</bioloid_F10_fixed>
<bioloid_F10_fixed parent="arti2_F10_0_link" name="arti2_F10_1" color="white">
<origin xyz="0 0 ${F10_HEIGHT}" rpy="0 0 0" />
</bioloid_F10_fixed>
<bioloid_F10_fixed parent="arti2_F10_1_link" name="arti2_F10_2" color="white">
<origin xyz="0 0 ${F10_HEIGHT}" rpy="0 0 0" />
</bioloid_F10_fixed>
<bioloid_F3_fixed parent="arti2_F10_2_link" name="arti2_F3_0" color="white">
<origin xyz="0 0 ${F10_HEIGHT/2}" rpy="0 ${M_PI} 0" />
</bioloid_F3_fixed>
<!-- wrist joint -->
<dynamixel_AX12_fixed parent="arti2_F3_0_link" name="servo_arti3">
<origin xyz="0 0 ${-AX12_HEIGHT-F10_HEIGHT+0.001}" rpy="0 ${M_PI} 0"/>
</dynamixel_AX12_fixed>
<bioloid_F2_revolute parent="servo_arti3_link" name="arti3" color="white" vlimit="3" llimit="-2.62" ulimit="2.62">
<origin xyz="0 0 0" rpy="0 0 0" />
</bioloid_F2_revolute>
<bioloid_F3_fixed parent="arti3_link" name="arti3_F3_0" color="white">
<origin xyz="0 0.016 ${F2_HEIGHT}" rpy="0 ${M_PI} ${-M_PI/2}" />
</bioloid_F3_fixed>
<!-- gripper joint -->
<dynamixel_AX12_fixed parent="arti3_F3_0_link" name="servo_pinza">
<origin xyz="-0.02275 0 ${-AX12_WIDTH/2}" rpy="${M_PI} ${M_PI/2} 0"/>
</dynamixel_AX12_fixed>
<!-- finger 1 -->
<joint name="pinza" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="100" velocity="3" lower="-2.62" upper="2.62" />
<default_dynamics/>
<parent link="servo_pinza_link"/>
<child link="pinza_movil_link" />
</joint>
<link name="pinza_movil_link">
<inertial>
<mass value="0.001" />
<origin xyz="0 0 0" />
<default_inertia/>
</inertial>
<visual>
<origin xyz=" 0 0 0 " rpy="0 0 0" />
<geometry>
<mesh filename="package://brazo_fer_modelo/meshes/F2.stl" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin xyz=" 0 0 0 " rpy="0 0 0" />
<geometry>
<mesh filename="package://brazo_fer_modelo/meshes/F2.stl" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
</geometry>
</collision>
</link>
<finger_fixed parent="pinza_movil_link" name="pinza_movil_dedo" color="white">
<origin xyz="0 0 ${F2_HEIGHT}" rpy="0 0 0" />
</finger_fixed>
<!-- finger 2 -->
<bioloid_F3_fixed parent="servo_pinza_link" name="pinza_fija" color="white">
<origin xyz="0 0 ${-AX12_HEIGHT-F10_HEIGHT+0.001}" rpy="0 ${M_PI} 0" />
</bioloid_F3_fixed>
<finger_fixed parent="pinza_fija_link" name="pinza_fija_dedo" color="white">
<origin xyz="0 0 0" rpy="0 0 ${M_PI}" />
</finger_fixed>
<gazebo_propiedades_link nombre="servo_base_link" material="brazo_fer/Black" />
<gazebo_propiedades_link nombre="base_brazo_link" material="brazo_fer/White" />
<gazebo_propiedades_link nombre="servo_arti1_link" material="brazo_fer/Black" />
<gazebo_propiedades_link nombre="arti1_link" material="brazo_fer/White" />
<gazebo_propiedades_link nombre="arti1_F10_0_link" material="brazo_fer/White" />
<gazebo_propiedades_link nombre="arti1_F10_1_link" material="brazo_fer/White" />
<gazebo_propiedades_link nombre="arti1_F10_2_link" material="brazo_fer/White" />
<gazebo_propiedades_link nombre="arti1_F3_0_link" material="brazo_fer/White" />
<gazebo_propiedades_link nombre="servo_arti2_link" material="brazo_fer/Black" />
<gazebo_propiedades_link nombre="arti2_link" material="brazo_fer/White" />
<gazebo_propiedades_link nombre="arti2_F10_0_link" material="brazo_fer/White" />
<gazebo_propiedades_link nombre="arti2_F10_1_link" material="brazo_fer/White" />
<gazebo_propiedades_link nombre="arti2_F10_2_link" material="brazo_fer/White" />
<gazebo_propiedades_link nombre="arti2_F3_0_link" material="brazo_fer/White" />
<gazebo_propiedades_link nombre="servo_arti3_link" material="brazo_fer/Black" />
<gazebo_propiedades_link nombre="arti3_link" material="brazo_fer/White" />
<gazebo_propiedades_link nombre="arti3_F3_0_link" material="brazo_fer/White" />
<gazebo_propiedades_link nombre="servo_pinza_link" material="brazo_fer/Black" />
<gazebo_propiedades_link nombre="pinza_movil_link" material="brazo_fer/White" />
<gazebo_propiedades_link nombre="pinza_movil_dedo_link" material="brazo_fer/WhiteTransparent" />
<gazebo_propiedades_link nombre="pinza_fija_link" material="brazo_fer/White" />
<gazebo_propiedades_link nombre="pinza_fija_dedo_link" material="brazo_fer/WhiteTransparent" />
<gazebo_propiedades_joint nombre="base" />
<gazebo_propiedades_joint nombre="arti1" />
<gazebo_propiedades_joint nombre="arti2" />
<gazebo_propiedades_joint nombre="arti3" />
<gazebo_propiedades_joint nombre="pinza" />
</xacro:macro>
</robot>
Controllers for arm simulation
We will create a file named "controller_moveit.yaml" within the folder "config" of the package "brazo_fer_modelo" with the content that is shown below:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
# Position Controllers ---------------------------------------
pinza_pos_controller:
type: effort_controllers/JointPositionController
joint: pinza
pid: {p: 0.8, i: 0.6, d: 0.3, i_clamp: 1}
brazo_controller:
type: effort_controllers/JointTrajectoryController
joints:
- arti1
- arti2
- arti3
- base
gains: # Required because we're controlling an effort interface
arti1: {p: 1.0, i: 0.6, d: 0.3, i_clamp: 10}
arti2: {p: 1.0, i: 0.6, d: 0.3, i_clamp: 10}
arti3: {p: 1.0, i: 0.6, d: 0.3, i_clamp: 10}
base: {p: 1.0, i: 0.6, d: 0.3, i_clamp: 10}New URDF for xtion camera and frame
We have added a frame to MYRAbot in order to place the new asus Xtion PRO LIVE camera which replaces the previous webcam. We will add the next code lines to the file "estructura-myrabot.xacro" placed within the folder "urdf" of the package "myrabot_fer_modelo" in order to add the camera frame:
...
<joint name="soporte_3" type="fixed">
<parent link="e_soporte_1_link"/>
<child link="e_soporte_3_link"/>
<origin xyz="0 0.065 0.61" rpy="0.12 0 0" />
</joint>
<link name="e_soporte_3_link">
<inertial>
<mass value="0.01"/>
<origin rpy="0 0 0" xyz="0.0 -0.065 ${0.06/2}"/>
<default_inertia_e />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.135 -0.2 -0.03"/>
<geometry>
<mesh filename="package://myrabot_fer_modelo/meshes/e_soporte_3.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="wood" />
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.135 -0.2 -0.03"/>
<geometry>
<mesh filename="package://myrabot_fer_modelo/meshes/e_soporte_3.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
...
<gazebo_propiedades nombre="e_soporte_3_link" material="myrabot_fer/LightWood" />
...
We will create a file named "xtion.xacro" within the folder "urdf" of the package "myrabot_fer_modelo" with the content that is shown below in order to create the model of the 3D sensor:
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!-- Xacro properties -->
<xacro:property name="M_SCALE" value="0.001"/>
<xacro:property name="asus_xtion_pro_depth_rel_rgb_py" value="0.0270" />
<xacro:property name="asus_xtion_pro_cam_rel_rgb_py" value="-0.0220" />
<property name="M_PI" value="3.14159"/>
<!-- Parameterised in part by the values in turtlebot_properties.urdf.xacro -->
<xacro:macro name="xtion" params="parent *origin">
<joint name="camera_rgb_joint_xtion" type="fixed">
<insert_block name="origin" />
<parent link="${parent}"/>
<child link="camera_rgb_frame_xtion" />
</joint>
<link name="camera_rgb_frame_xtion">
<inertial>
<mass value="0.001" />
<origin xyz="0 0 0" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0"
iyy="0.0001" iyz="0.0"
izz="0.0001" />
</inertial>
</link>
<joint name="camera_rgb_optical_joint_xtion" type="fixed">
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
<parent link="camera_rgb_frame_xtion" />
<child link="camera_rgb_optical_frame_xtion" />
</joint>
<link name="camera_rgb_optical_frame_xtion">
<inertial>
<mass value="0.001" />
<origin xyz="0 0 0" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0"
iyy="0.0001" iyz="0.0"
izz="0.0001" />
</inertial>
</link>
<joint name="camera_joint_xtion" type="fixed">
<origin xyz="0.0175 ${asus_xtion_pro_cam_rel_rgb_py} 0.021"
rpy="0 0 0"/>
<parent link="camera_rgb_frame_xtion"/>
<child link="camera_link_xtion"/>
</joint>
<link name="camera_link_xtion">
<visual>
<origin xyz="-0.01 0 0" rpy="${-M_PI/2} -${M_PI} ${-M_PI/2}"/>
<geometry>
<mesh filename="package://myrabot_fer_modelo/meshes/asus_xtion_pro_live.dae" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.01 0 0" rpy="${-M_PI/2} -${M_PI} ${-M_PI/2}"/>
<geometry>
<mesh filename="package://myrabot_fer_modelo/meshes/asus_xtion_pro_live.dae" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
</geometry>
</collision>
<inertial>
<mass value="0.01" />
<origin xyz="0 0 0" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0"
izz="0.001" />
</inertial>
</link>
<joint name="camera_depth_joint_xtion" type="fixed">
<origin xyz="0.0175 ${asus_xtion_pro_depth_rel_rgb_py} 0.021" rpy="0 0 0" />
<parent link="camera_rgb_frame_xtion" />
<child link="camera_depth_frame_xtion" />
</joint>
<link name="camera_depth_frame_xtion">
<inertial>
<mass value="0.01" />
<origin xyz="0 0 0" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0"
iyy="0.001" iyz="0.0"
izz="0.001" />
</inertial>
</link>
<joint name="camera_depth_optical_joint_xtion" type="fixed">
<origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2}" />
<parent link="camera_depth_frame_xtion" />
<child link="camera_depth_optical_frame_xtion" />
</joint>
<link name="camera_depth_optical_frame_xtion">
<inertial>
<mass value="0.001" />
<origin xyz="0 0 0" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0"
iyy="0.0001" iyz="0.0"
izz="0.0001" />
</inertial>
</link>
<gazebo reference="camera_link_xtion">
<sensor type="depth" name="xtion">
<always_on>true</always_on>
<update_rate>20.0</update_rate>
<camera>
<horizontal_fov>${60.0*M_PI/180.0}</horizontal_fov>
<image>
<format>R8G8B8</format>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.05</near>
<far>8.0</far>
</clip>
</camera>
<plugin name="xtion_camera_controller" filename="libgazebo_ros_openni_kinect.so">
<cameraName>xtion</cameraName>
<alwaysOn>true</alwaysOn>
<updateRate>10</updateRate>
<imageTopicName>rgb/image_raw</imageTopicName>
<depthImageTopicName>depth/image_raw</depthImageTopicName>
<pointCloudTopicName>depth/points</pointCloudTopicName>
<cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
<depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
<frameName>camera_depth_optical_frame_xtion</frameName>
<baseline>0.1</baseline>
<distortion_k1>0.0</distortion_k1>
<distortion_k2>0.0</distortion_k2>
<distortion_k3>0.0</distortion_k3>
<distortion_t1>0.0</distortion_t1>
<distortion_t2>0.0</distortion_t2>
<pointCloudCutoff>0.4</pointCloudCutoff>
</plugin>
</sensor>
</gazebo>
</xacro:macro>
</robot>
We will add the next files within the folder "meshes" of the package "myrabot_fer_modelo":
New URDF of MYRAbot
As well we have to create a file named "myrabot_moveit.urdf.xacro" within the folder "urdf" of the package "myrabot_fer_modelo" with the content that is show below in order to add to the MYRAbot model the new arm model:
<?xml version="1.0"?>
<robot name="MYRAbot"
xmlns:xi="http://www.w3.org/2001/XInclude"
xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find myrabot_fer_modelo)/urdf/roomba.xacro" />
<xacro:include filename="$(find myrabot_fer_modelo)/urdf/estructura-myrabot.xacro" />
<xacro:include filename="$(find myrabot_fer_modelo)/urdf/kinect.xacro" />
<xacro:include filename="$(find brazo_fer_modelo)/urdf/brazo_moveit.xacro" />
<xacro:include filename="$(find myrabot_fer_modelo)/urdf/xtion.xacro" />
<xacro:include filename="$(find myrabot_fer_modelo)/urdf/ultrasonidos.xacro" />
<roomba />
<estructura_myrabot parent="base_link">
<origin rpy="0 0 1.57" xyz="0 0 0.063"/>
</estructura_myrabot>
<kinect parent="e_base_kinect_link">
<origin rpy="0 0 -1.57" xyz="0 -0.045 0.112"/>
</kinect>
<brazo parent="e_base_brazo_1_link">
<origin rpy="0 0 1.57" xyz="0 -0.1015 0.075"/>
</brazo>
<xtion parent="e_soporte_3_link">
<origin rpy="0 0.65 -1.57" xyz="0.021 -0.03 0.175"/>
</xtion>
<ultrasonidos id="1" parent="e_base_2_link" d_centro="0.150">
<origin rpy="0 0 1.57" xyz="0 0 ${0.04-0.007}"/>
</ultrasonidos>
<ultrasonidos id="2" parent="e_base_2_link" d_centro="0.150">
<origin rpy="0 0 2.36" xyz="0 0 ${0.04-0.007}"/>
</ultrasonidos>
<ultrasonidos id="3" parent="e_base_2_link" d_centro="0.150">
<origin rpy="0 0 3.14" xyz="0 0 ${0.04-0.007}"/>
</ultrasonidos>
<ultrasonidos id="4" parent="e_base_2_link" d_centro="0.150">
<origin rpy="0 0 3.93" xyz="0 0 ${0.04-0.007}"/>
</ultrasonidos>
<ultrasonidos id="5" parent="e_base_2_link" d_centro="0.150">
<origin rpy="0 0 4.71" xyz="0 0 ${0.04-0.007}"/>
</ultrasonidos>
</robot>
We will create a file named "myrabot_gazebo_moveit.launcher" within the folder "launch" of the package "myrabot_fer_modelo" with the content that is shown below in order to load in gazebo the new robot model adapted to moveIt!:
<launch>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="true"/>
<arg name="use_sim_time" value="true"/>
<arg name="debug" value="false"/>
<arg name="world_name" value="$(find turtlebot_gazebo)/worlds/empty.world"/>
</include>
<param name="robot_description" command="$(find xacro)/xacro.py '$(find brazo_fer_modelo)/urdf/myrabot_moveit.urdf.xacro'" />
<node name="spawn_myrabot" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model MYRAbot" respawn="false" output="screen" />
<rosparam file="$(find brazo_fer_modelo)/config/controller_moveit.yaml" command="load"/>
<node name="controller_spawner" pkg="controller_manager" type="spawner" args="pinza_pos_controller brazo_controller joint_state_controller" respawn="false" output="screen" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
<param name="freq" value="30.0"/>
<param name="sensor_timeout" value="1.0"/>
<param name="publish_tf" value="true"/>
<param name="odom_used" value="true"/>
<param name="imu_used" value="false"/>
<param name="vo_used" value="false"/>
<param name="output_frame" value="odom"/>
</node>
<node pkg="nodelet" type="nodelet" name="pointcloud_throttle" args="load pointcloud_to_laserscan/CloudThrottle openni_manager" respawn="true">
<param name="max_rate" value="20.0"/>
<remap from="cloud_in" to="/camera/depth/points"/>
<remap from="cloud_out" to="cloud_throttled"/>
</node>
<node pkg="nodelet" type="nodelet" name="kinect_laser" args="load pointcloud_to_laserscan/CloudToScan openni_manager" respawn="true">
<param name="output_frame_id" value="/camera_depth_frame"/>
<!-- heights are in the (optical?) frame of the kinect -->
<param name="min_height" value="-0.15"/>
<param name="max_height" value="0.15"/>
<remap from="cloud" to="/cloud_throttled"/>
</node>
<node pkg="nodelet" type="nodelet" name="kinect_laser_narrow" args="load pointcloud_to_laserscan/CloudToScan openni_manager" respawn="true">
<param name="output_frame_id" value="/camera_depth_frame"/>
<!-- heights are in the (optical?) frame of the kinect -->
<param name="min_height" value="-0.025"/>
<param name="max_height" value="0.025"/>
<remap from="cloud" to="/cloud_throttled"/>
<remap from="scan" to="/narrow_scan"/>
</node>
</launch>
Configuration of MYRAbot in moveIt!
Setup assistant
We will execute the next command in a terminal in order to start the setup assistant of moveIt!:
roslaunch moveit_setup_assistant setup_assistant.launchWe can choose between "Create New MoveIt Configuration Package" or "Edit existing MoveIt Configuration Package" in the assistant window that is shown below:
 MoveIt! setup asistant start window |
Select the URDF file of the MYRAbot model clicking on "Browse" > |
 Creation of New moveIt! Configuration Package window |
We will click on "Load Files" in order to load our robot model in the moveIt! setup assistant. When the load process ends, we can see in the right side of the window the robot model. This is shown in the next picture:
MoveIt! setup assistant load model window
Now, we will select "Self-Collision" in the menu of the left side of the window and we will click on "Regenerate Default Collision Mtrix" in order to calculate the collision matrix of our model. The result is shown in the next picture:
MoveIt! setup assistant Self-Collision window
We will select "Virtual Joints" in the menu of the left side of the window and we will click on "Add Virtual Joint". We will write virtual_joint in the field "Virtual Joint Name", we will select the link base_footprint in the field "Child_Link", we will write odom in the field "Parent Frame Name" and we will write planar in the field. The procedure is shown in the next pictures:
 MoveIt! setup assistant "Add Virtual Joint" window |
 MoveIt! setup assistant "Virtual Joints" window |
We will select "Planning Groups" in the menu of the left side of the window and we will click on "Add Group". We will write brazo in the field "Group Name", we will select kdl_kinematics_plugin/KDLKinematicsPlugin in the field "Kinematic Solver" and we will leave the rest of fields with the default value. The procedure is shown in the next pictures:
 MoveIt! setup assistant "Add Group" window |
Select from the list the joints of the arm (base, arti1, arti2, arti3)> |
 MoveIt! setup assistant "Add Joints" to "Group" window |
 MoveIt! setup assistant "Planning Group" window |
As well we must add the gripper group clicking on "Add Group". We will write pinza in the field "Group Name", we will select None in the field "Kinematic Solver" and we will leave the rest of fields with the default value. The procedure is shown in the next pictures:
 MoveIt! setup assistant "Add Group" window |
Select from the list the links of the gripper> |
 MoveIt! setup assistant "Add Links" to "Group" window |
 MoveIt! setup assistant "Planning Group" window |
We can store regular poses for the arm group in order to set this poses in the future. We will select "Robot Poses" in the menu of the left side of the window and we will click on "Add Pose". We will write home in the field "Pose Name" and we will select brazo in the field "Planning Group". We can modify the position of each joint using the slider. The procedure is shown in the next pictures:
 MoveIt! setup assistant "Add Pose" window |
 MoveIt! setup assistant "Robot Pose" window |
We will select "End Effectors" in the menu of the left side of the window and we will click on "Add End Effector". We will write pinza_eef in the field "End Effector Name", we will select 'pinza in the field "End Effector Group", we will select arti3_link in the field "Parent Link" and we will leave blank the field "Parent Group". The procedure is shown in the next pictures:
 MoveIt! setup assistant "Add End Effector" window |
 MoveIt! setup assistant "End Effectors" window |
To finish, we will select "Configuration Files" in the menu of the left side of the window and we will click on "Browse" in order to select the path and the name for the configuration package. We will click on "Generate Package" to generate the package. The result is shown in the next picture:
MoveIt! setup assistant final window
Integration of arm's controllers
We will create a file named "controllers.yaml" within the folder "config" of the generated moveIt! package with the content that is show below:
controller_list:
- name: brazo_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints:
- arti1
- arti2
- arti3
- baseWe have to add the nest code lines in the file "MYRAbot_moveit_controller_manager.launch.xml" placed in the folder "launch" of the generated moveIt! package:
<launch>
<!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
<arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
<param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
<!-- load controller_list -->
<rosparam file="$(find myrabot_moveit_generated)/config/controllers.yaml"/>
</launch>
Integration of perception sensors
We can use the asus xtion pro live or the kinect in MYRAbot, we configure both in the same way. We will create a file named "xtion.yaml" within the folder "config" of the generated moveIt! package with the content that is shown below:
sensors:
- sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
point_cloud_topic: /xtion/depth/points
max_range: 5.0
point_subsample: 1
padding_offset: 0.1
padding_scale: 1.0
filtered_cloud_topic: filtered_cloudWe have to add the nest code lines in the file "MYRAbot_moveit_sensor_manager.launch.xml" placed in the folder "launch" of the generated moveIt! package:
<launch>
<rosparam command="load" file="$(find myrabot_moveit_generated)/config/xtion.yaml" />
<param name="octomap_frame" type="string" value="odom" />
<param name="octomap_resolution" type="double" value="0.05" />
<param name="max_range" type="double" value="5.0" />
</launch>
We have to add the value 'move_group/MoveGroupGetPlanningSceneService in the parameter "papabilities" in the file "move_group.launch" placed in the folder "launch" of the generated moveIt! package like is shown below:
...
<!-- MoveGroup capabilities to load -->
<param name="capabilities" value="move_group/MoveGroupCartesianPathService
move_group/MoveGroupExecuteService
move_group/MoveGroupKinematicsService
move_group/MoveGroupMoveAction
move_group/MoveGroupPickPlaceAction
move_group/MoveGroupPlanService
move_group/MoveGroupQueryPlannersService
move_group/MoveGroupStateValidationService
move_group/MoveGroupGetPlanningSceneService
" />
...
